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<h1>servo.c</h1><a href="servo_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************************</span>
<a name="l00002"></a>00002 <span class="comment"></span>
<a name="l00003"></a>00003 <span class="comment"> Copyright 2006 MakingThings</span>
<a name="l00004"></a>00004 <span class="comment"></span>
<a name="l00005"></a>00005 <span class="comment"> Licensed under the Apache License, </span>
<a name="l00006"></a>00006 <span class="comment"> Version 2.0 (the "License"); you may not use this file except in compliance </span>
<a name="l00007"></a>00007 <span class="comment"> with the License. You may obtain a copy of the License at</span>
<a name="l00008"></a>00008 <span class="comment"></span>
<a name="l00009"></a>00009 <span class="comment"> http://www.apache.org/licenses/LICENSE-2.0 </span>
<a name="l00010"></a>00010 <span class="comment"> </span>
<a name="l00011"></a>00011 <span class="comment"> Unless required by applicable law or agreed to in writing, software distributed</span>
<a name="l00012"></a>00012 <span class="comment"> under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR</span>
<a name="l00013"></a>00013 <span class="comment"> CONDITIONS OF ANY KIND, either express or implied. See the License for</span>
<a name="l00014"></a>00014 <span class="comment"> the specific language governing permissions and limitations under the License.</span>
<a name="l00015"></a>00015 <span class="comment"></span>
<a name="l00016"></a>00016 <span class="comment">*********************************************************************************/</span>
<a name="l00017"></a>00017 
<a name="l00018"></a>00018 <span class="comment">// MakingThings - Make Controller Board - 2006</span>
<a name="l00019"></a>00019 <span class="comment"></span>
<a name="l00020"></a>00020 <span class="comment">/** \file servo.c </span>
<a name="l00021"></a>00021 <span class="comment">  Servo Motor Controls.</span>
<a name="l00022"></a>00022 <span class="comment">  Methods for controlling up to 4 servo motors with the Make Application Board.</span>
<a name="l00023"></a>00023 <span class="comment">*/</span>
<a name="l00024"></a>00024 
<a name="l00025"></a>00025 <span class="preprocessor">#include "servo.h"</span>
<a name="l00026"></a>00026 <span class="preprocessor">#include "io.h"</span>
<a name="l00027"></a>00027 <span class="preprocessor">#include "fasttimer.h"</span>
<a name="l00028"></a>00028 <span class="preprocessor">#include "config.h"</span>
<a name="l00029"></a>00029 
<a name="l00030"></a>00030 <span class="preprocessor">#include "AT91SAM7X256.h"</span>
<a name="l00031"></a>00031 
<a name="l00032"></a>00032 <span class="comment">// These constants govern how long the pulse preamble is </span>
<a name="l00033"></a>00033 <span class="comment">// (SERVO_OFFSET) and how long the pulse can be (SERVO_MAX)</span>
<a name="l00034"></a>00034 <span class="comment">// So... if you want the servo pulse to be 1ms-2ms, you'd </span>
<a name="l00035"></a>00035 <span class="comment">// set SERVO_MAX = 1000, SERVO_OFFEST = 1000</span>
<a name="l00036"></a>00036 <span class="comment">// So... if you want the servo pulse to be 0.3ms-2.3ms, you'd </span>
<a name="l00037"></a>00037 <span class="comment">// set SERVO_MAX = 2000, SERVO_OFFEST = 300</span>
<a name="l00038"></a>00038 <span class="comment">//#define SERVO_MAX_PULSE     1000</span>
<a name="l00039"></a>00039 <span class="preprocessor">#define SERVO_OFFSET  1000</span>
<a name="l00040"></a>00040 <span class="preprocessor"></span><span class="preprocessor">#define SERVO_MIN_POSITION  -512</span>
<a name="l00041"></a>00041 <span class="preprocessor"></span><span class="preprocessor">#define SERVO_MAX_POSITION  1536</span>
<a name="l00042"></a>00042 <span class="preprocessor"></span><span class="preprocessor">#define SERVO_MID_POSITION 512</span>
<a name="l00043"></a>00043 <span class="preprocessor"></span><span class="preprocessor">#define SERVO_CYCLE 2048</span>
<a name="l00044"></a>00044 <span class="preprocessor"></span><span class="preprocessor">#define SERVO_SAFE_MIN 0</span>
<a name="l00045"></a>00045 <span class="preprocessor"></span><span class="preprocessor">#define SERVO_SAFE_MAX 1023</span>
<a name="l00046"></a>00046 <span class="preprocessor"></span>
<a name="l00047"></a>00047 <span class="preprocessor">#if ( APPBOARD_VERSION == 50 )</span>
<a name="l00048"></a>00048 <span class="preprocessor"></span><span class="preprocessor">  #define SERVO_0_IO IO_PA02</span>
<a name="l00049"></a>00049 <span class="preprocessor"></span><span class="preprocessor">  #define SERVO_1_IO IO_PA02</span>
<a name="l00050"></a>00050 <span class="preprocessor"></span><span class="preprocessor">  #define SERVO_2_IO IO_PA02</span>
<a name="l00051"></a>00051 <span class="preprocessor"></span><span class="preprocessor">  #define SERVO_3_IO IO_PA02</span>
<a name="l00052"></a>00052 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00053"></a>00053 <span class="preprocessor"></span><span class="preprocessor">#if ( APPBOARD_VERSION == 90 || APPBOARD_VERSION == 95 || APPBOARD_VERSION == 100 )</span>
<a name="l00054"></a>00054 <span class="preprocessor"></span><span class="preprocessor">  #define SERVO_0_IO IO_PB24</span>
<a name="l00055"></a>00055 <span class="preprocessor"></span><span class="preprocessor">  #define SERVO_1_IO IO_PA23</span>
<a name="l00056"></a>00056 <span class="preprocessor"></span><span class="preprocessor">  #define SERVO_2_IO IO_PA21</span>
<a name="l00057"></a>00057 <span class="preprocessor"></span><span class="preprocessor">  #define SERVO_3_IO IO_PA22</span>
<a name="l00058"></a>00058 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00059"></a>00059 <span class="preprocessor"></span>
<a name="l00060"></a>00060 <span class="keywordtype">void</span> DisableFIQFromThumb( <span class="keywordtype">void</span> );
<a name="l00061"></a>00061 <span class="keywordtype">void</span> EnableFIQFromThumb( <span class="keywordtype">void</span> );
<a name="l00062"></a>00062 
<a name="l00063"></a>00063 
<a name="l00064"></a>00064 <span class="keywordtype">void</span> Servo_IRQCallback( <span class="keywordtype">int</span> <span class="keywordtype">id</span> );
<a name="l00065"></a>00065 
<a name="l00066"></a>00066 <span class="keyword">static</span> <span class="keywordtype">int</span> Servo_Start( <span class="keywordtype">int</span> index );
<a name="l00067"></a>00067 <span class="keyword">static</span> <span class="keywordtype">int</span> Servo_Stop( <span class="keywordtype">int</span> index );
<a name="l00068"></a>00068 <span class="keyword">static</span> <span class="keywordtype">int</span> Servo_Init( <span class="keywordtype">void</span> );
<a name="l00069"></a>00069 <span class="keyword">static</span> <span class="keywordtype">int</span> Servo_Deinit( <span class="keywordtype">void</span> );
<a name="l00070"></a>00070 <span class="keyword">static</span> <span class="keywordtype">int</span> Servo_GetIo( <span class="keywordtype">int</span> index );
<a name="l00071"></a>00071 
<a name="l00072"></a>00072 <span class="preprocessor">#define SERVO_COUNT 4</span>
<a name="l00073"></a>00073 <span class="preprocessor"></span>
<a name="l00074"></a>00074 <span class="keyword">typedef</span> <span class="keyword">struct </span>ServoControlS
<a name="l00075"></a>00075 {
<a name="l00076"></a>00076   <span class="keywordtype">int</span> users;
<a name="l00077"></a>00077   <span class="keywordtype">int</span> speed;
<a name="l00078"></a>00078   <span class="keywordtype">int</span> positionRequested;
<a name="l00079"></a>00079   <span class="keywordtype">int</span> position;
<a name="l00080"></a>00080   <span class="keywordtype">int</span> pin;
<a name="l00081"></a>00081   AT91S_PIO* pIoBase;
<a name="l00082"></a>00082 } ServoControl;
<a name="l00083"></a>00083 
<a name="l00084"></a>00084 <span class="keyword">typedef</span> <span class="keyword">struct </span>ServoS
<a name="l00085"></a>00085 {
<a name="l00086"></a>00086   <span class="keywordtype">int</span> users;
<a name="l00087"></a>00087   <span class="keywordtype">int</span> gap;
<a name="l00088"></a>00088   <span class="keywordtype">int</span> index;
<a name="l00089"></a>00089   <span class="keywordtype">int</span> state;
<a name="l00090"></a>00090   FastTimerEntry fastTimerEntry;
<a name="l00091"></a>00091   ServoControl* control[ SERVO_COUNT ];
<a name="l00092"></a>00092 } Servo_;
<a name="l00093"></a>00093 
<a name="l00094"></a>00094 
<a name="l00095"></a>00095 Servo_* Servo;
<a name="l00096"></a>00096 <span class="comment"></span>
<a name="l00097"></a>00097 <span class="comment">/** \defgroup Servo</span>
<a name="l00098"></a>00098 <span class="comment">  The Servo Motor subsystem controls speed and position control for up to 4 standard servo motors.</span>
<a name="l00099"></a>00099 <span class="comment">  Standard servos have a range of motion of approximately 180 degrees, although this varies from motor to motor.</span>
<a name="l00100"></a>00100 <span class="comment">  Be sure to plug in the connector with the correct orientation with regard to the GND/5V signals on the board.</span>
<a name="l00101"></a>00101 <span class="comment"></span>
<a name="l00102"></a>00102 <span class="comment">  Because not all servo motors are created equal, and not all of them can be safely driven across all 180 degrees,</span>
<a name="l00103"></a>00103 <span class="comment">  the default (safe) range of motion is from values 0 to 1023.  The full range of motion is from -512 to 1536, but use this</span>
<a name="l00104"></a>00104 <span class="comment">  extra range cautiously if you don't know how your motor can handle it.  A little gentle experimentation should do the trick.</span>
<a name="l00105"></a>00105 <span class="comment">  </span>
<a name="l00106"></a>00106 <span class="comment">  You can also specify the speed with which the motors will respond to new position commands - a high</span>
<a name="l00107"></a>00107 <span class="comment">  value will result in an immediate response, while a lower value can offer some smoothing when appropriate.</span>
<a name="l00108"></a>00108 <span class="comment">* \ingroup AppBoard</span>
<a name="l00109"></a>00109 <span class="comment">* @{</span>
<a name="l00110"></a>00110 <span class="comment">*/</span>
<a name="l00111"></a>00111 <span class="comment"></span>
<a name="l00112"></a>00112 <span class="comment">/**</span>
<a name="l00113"></a>00113 <span class="comment">  Lock or unlock the I/O lines used by the servos.  </span>
<a name="l00114"></a>00114 <span class="comment">  Sets whether the specified Servo I/O is active.</span>
<a name="l00115"></a>00115 <span class="comment">  @param index An integer specifying which servo (0 - 3).</span>
<a name="l00116"></a>00116 <span class="comment">  @param state An integer specifying the active state - 1 (active) or 0 (inactive).</span>
<a name="l00117"></a>00117 <span class="comment">  @return Zero on success.</span>
<a name="l00118"></a>00118 <span class="comment">*/</span>
<a name="l00119"></a><a class="code" href="group___servo.html#g8ecf12d7f9b6c7130cac1f0c33270e4b">00119</a> <span class="keywordtype">int</span> <a class="code" href="group___servo.html#g8ecf12d7f9b6c7130cac1f0c33270e4b" title="Lock or unlock the I/O lines used by the servos.">Servo_SetActive</a>( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> state )
<a name="l00120"></a>00120 {
<a name="l00121"></a>00121   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= SERVO_COUNT )
<a name="l00122"></a>00122     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00123"></a>00123 
<a name="l00124"></a>00124   <span class="keywordflow">if</span> ( state )
<a name="l00125"></a>00125   {
<a name="l00126"></a>00126     <span class="keywordflow">if</span>( Servo == NULL )
<a name="l00127"></a>00127     {
<a name="l00128"></a>00128       <span class="keywordtype">int</span> retVal = Servo_Init( );
<a name="l00129"></a>00129       <span class="keywordflow">if</span>( retVal != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00130"></a>00130         <span class="keywordflow">return</span> retVal;
<a name="l00131"></a>00131     }
<a name="l00132"></a>00132     <span class="keywordflow">return</span> Servo_Start( index );
<a name="l00133"></a>00133   }
<a name="l00134"></a>00134   <span class="keywordflow">else</span>
<a name="l00135"></a>00135   {
<a name="l00136"></a>00136     <span class="keywordflow">if</span>( Servo == NULL )
<a name="l00137"></a>00137       <span class="keywordflow">return</span> -1;
<a name="l00138"></a>00138 
<a name="l00139"></a>00139     <span class="keywordtype">int</span> retVal = Servo_Stop( index );
<a name="l00140"></a>00140     <span class="keywordflow">if</span>( retVal != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00141"></a>00141       <span class="keywordflow">return</span> retVal;
<a name="l00142"></a>00142 
<a name="l00143"></a>00143     <span class="keywordflow">if</span>( --Servo-&gt;users &lt;= 0 )
<a name="l00144"></a>00144       retVal = Servo_Deinit( );
<a name="l00145"></a>00145 
<a name="l00146"></a>00146     <span class="keywordflow">return</span> retVal;
<a name="l00147"></a>00147   }
<a name="l00148"></a>00148 }
<a name="l00149"></a>00149 <span class="comment"></span>
<a name="l00150"></a>00150 <span class="comment">/**</span>
<a name="l00151"></a>00151 <span class="comment">  Check whether the I/O lines used by the servos are locked.</span>
<a name="l00152"></a>00152 <span class="comment">  @param index An integer specifying which servo (0-3).</span>
<a name="l00153"></a>00153 <span class="comment">  @return State - 1 (active) or 0 (inactive).</span>
<a name="l00154"></a>00154 <span class="comment">*/</span>
<a name="l00155"></a><a class="code" href="group___servo.html#g5cee903342f9a9f772713b4059ff911c">00155</a> <span class="keywordtype">int</span> <a class="code" href="group___servo.html#g5cee903342f9a9f772713b4059ff911c" title="Check whether the I/O lines used by the servos are locked.">Servo_GetActive</a>( <span class="keywordtype">int</span> index )
<a name="l00156"></a>00156 {
<a name="l00157"></a>00157   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= SERVO_COUNT || Servo == NULL )
<a name="l00158"></a>00158     <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00159"></a>00159   <span class="keywordflow">return</span> Servo-&gt;control[ index ]-&gt;users &gt; 0;
<a name="l00160"></a>00160 }
<a name="l00161"></a>00161 
<a name="l00162"></a>00162 <span class="comment"></span>
<a name="l00163"></a>00163 <span class="comment">/** </span>
<a name="l00164"></a>00164 <span class="comment">  Set the position of the specified servo motor.</span>
<a name="l00165"></a>00165 <span class="comment">  Most servos like to be driven within a "safe range" which usually ends up being somewhere around 110-120</span>
<a name="l00166"></a>00166 <span class="comment">  degrees range of motion, or thereabouts.  Some servos don't mind being driven all the way to their 180</span>
<a name="l00167"></a>00167 <span class="comment">  degree range of motion limit.  With this in mind, the range of values you can send to servos connected</span>
<a name="l00168"></a>00168 <span class="comment">  to the Make Controller Kit is as follows:</span>
<a name="l00169"></a>00169 <span class="comment">  - Values from 0-1023 correspond to the normal, or "safe", range of motion.  </span>
<a name="l00170"></a>00170 <span class="comment">  - You can also send values from -512 all the way up to 1536 to drive the servo through its full</span>
<a name="l00171"></a>00171 <span class="comment">  range of motion.</span>
<a name="l00172"></a>00172 <span class="comment">  </span>
<a name="l00173"></a>00173 <span class="comment">  Note that it is sometimes possible to damage your servo by driving it too far, so proceed with a bit of</span>
<a name="l00174"></a>00174 <span class="comment">  caution when using the extended range until you know your servos can handle it.</span>
<a name="l00175"></a>00175 <span class="comment"></span>
<a name="l00176"></a>00176 <span class="comment">  @param index An integer specifying which servo (0 - 3).</span>
<a name="l00177"></a>00177 <span class="comment">  @param position An integer specifying the servo position (0 - 1023).</span>
<a name="l00178"></a>00178 <span class="comment">  @return status (0 = OK).</span>
<a name="l00179"></a>00179 <span class="comment">*/</span>
<a name="l00180"></a><a class="code" href="group___servo.html#g6fdf6eb917b9aa2a25939d9a44821b22">00180</a> <span class="keywordtype">int</span> <a class="code" href="group___servo.html#g6fdf6eb917b9aa2a25939d9a44821b22" title="Set the position of the specified servo motor.">Servo_SetPosition</a>( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> position )
<a name="l00181"></a>00181 {
<a name="l00182"></a>00182   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= SERVO_COUNT )
<a name="l00183"></a>00183     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00184"></a>00184 
<a name="l00185"></a>00185   <a class="code" href="group___servo.html#g8ecf12d7f9b6c7130cac1f0c33270e4b" title="Lock or unlock the I/O lines used by the servos.">Servo_SetActive</a>( index, 1 );
<a name="l00186"></a>00186 
<a name="l00187"></a>00187   <span class="keywordflow">if</span> ( position &lt; SERVO_MIN_POSITION )
<a name="l00188"></a>00188     position = SERVO_SAFE_MIN;
<a name="l00189"></a>00189   <span class="keywordflow">if</span> ( position &gt; SERVO_MAX_POSITION )
<a name="l00190"></a>00190     position = SERVO_SAFE_MAX;
<a name="l00191"></a>00191 
<a name="l00192"></a>00192   position += SERVO_OFFSET;
<a name="l00193"></a>00193 
<a name="l00194"></a>00194   DisableFIQFromThumb();
<a name="l00195"></a>00195   Servo-&gt;control[ index ]-&gt;positionRequested = position &lt;&lt; 6;
<a name="l00196"></a>00196   EnableFIQFromThumb();
<a name="l00197"></a>00197 
<a name="l00198"></a>00198   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00199"></a>00199 }
<a name="l00200"></a>00200 <span class="comment"></span>
<a name="l00201"></a>00201 <span class="comment">/** </span>
<a name="l00202"></a>00202 <span class="comment">  Set the speed at which a servo will move in response to a call to Servo_SetPosition().</span>
<a name="l00203"></a>00203 <span class="comment">  Higher values will result in a more immediate response, while lower values will more slowly step through</span>
<a name="l00204"></a>00204 <span class="comment">  all the intermediate values, achieving a smoother motion.  </span>
<a name="l00205"></a>00205 <span class="comment">  @param index An integer specifying which servo (0 - 3).</span>
<a name="l00206"></a>00206 <span class="comment">  @param speed An integer specifying the servo speed (0 - 1023).</span>
<a name="l00207"></a>00207 <span class="comment">  @return status (0 = OK).</span>
<a name="l00208"></a>00208 <span class="comment">*/</span>
<a name="l00209"></a><a class="code" href="group___servo.html#g4a71ffa4eaba4813382dc5de22b7f74c">00209</a> <span class="keywordtype">int</span> <a class="code" href="group___servo.html#g4a71ffa4eaba4813382dc5de22b7f74c" title="Set the speed at which a servo will move in response to a call to Servo_SetPosition()...">Servo_SetSpeed</a>( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> speed )
<a name="l00210"></a>00210 {
<a name="l00211"></a>00211   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= SERVO_COUNT )
<a name="l00212"></a>00212     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00213"></a>00213   
<a name="l00214"></a>00214   <a class="code" href="group___servo.html#g8ecf12d7f9b6c7130cac1f0c33270e4b" title="Lock or unlock the I/O lines used by the servos.">Servo_SetActive</a>( index, 1 );
<a name="l00215"></a>00215 
<a name="l00216"></a>00216   <span class="keywordflow">if</span> ( speed &lt; 1 )
<a name="l00217"></a>00217     speed = 1;
<a name="l00218"></a>00218   <span class="keywordflow">if</span>( speed &gt; 1023 )
<a name="l00219"></a>00219     speed = 1023;
<a name="l00220"></a>00220   DisableFIQFromThumb();
<a name="l00221"></a>00221   Servo-&gt;control[ index ]-&gt;speed = speed &lt;&lt; 6;
<a name="l00222"></a>00222   EnableFIQFromThumb();
<a name="l00223"></a>00223 
<a name="l00224"></a>00224   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00225"></a>00225 }
<a name="l00226"></a>00226 <span class="comment"></span>
<a name="l00227"></a>00227 <span class="comment">/** </span>
<a name="l00228"></a>00228 <span class="comment">  Read the current position of a servo motor.</span>
<a name="l00229"></a>00229 <span class="comment">  @param index An integer specifying which servo (0 - 3).</span>
<a name="l00230"></a>00230 <span class="comment">  @return The position (0 - 1023), or 0 on error.</span>
<a name="l00231"></a>00231 <span class="comment">*/</span>
<a name="l00232"></a><a class="code" href="group___servo.html#g214b93c5b01fa4e91a9d1a06f606a342">00232</a> <span class="keywordtype">int</span> <a class="code" href="group___servo.html#g214b93c5b01fa4e91a9d1a06f606a342" title="Read the current position of a servo motor.">Servo_GetPosition</a>( <span class="keywordtype">int</span> index )
<a name="l00233"></a>00233 {
<a name="l00234"></a>00234   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= SERVO_COUNT )
<a name="l00235"></a>00235     <span class="keywordflow">return</span> 0;
<a name="l00236"></a>00236   
<a name="l00237"></a>00237   <a class="code" href="group___servo.html#g8ecf12d7f9b6c7130cac1f0c33270e4b" title="Lock or unlock the I/O lines used by the servos.">Servo_SetActive</a>( index, 1 );
<a name="l00238"></a>00238   <span class="keywordflow">return</span> (Servo-&gt;control[ index ]-&gt;position &gt;&gt; 6) - SERVO_OFFSET;
<a name="l00239"></a>00239 }
<a name="l00240"></a>00240 <span class="comment"></span>
<a name="l00241"></a>00241 <span class="comment">/** </span>
<a name="l00242"></a>00242 <span class="comment">  Get the speed at which a servo will move in response to a call to Servo_SetPosition().</span>
<a name="l00243"></a>00243 <span class="comment">  Read the value previously set for the speed parameter.</span>
<a name="l00244"></a>00244 <span class="comment">  @param index An integer specifying which servo (0 - 3).</span>
<a name="l00245"></a>00245 <span class="comment">  @return The speed (0 - 1023), or 0 on error.</span>
<a name="l00246"></a>00246 <span class="comment">*/</span>
<a name="l00247"></a><a class="code" href="group___servo.html#g611ac83ea6ee2bc174cc20bf51cbeb5d">00247</a> <span class="keywordtype">int</span> <a class="code" href="group___servo.html#g611ac83ea6ee2bc174cc20bf51cbeb5d" title="Get the speed at which a servo will move in response to a call to Servo_SetPosition()...">Servo_GetSpeed</a>( <span class="keywordtype">int</span> index )
<a name="l00248"></a>00248 {
<a name="l00249"></a>00249   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= SERVO_COUNT )
<a name="l00250"></a>00250     <span class="keywordflow">return</span> 0;
<a name="l00251"></a>00251   
<a name="l00252"></a>00252   <a class="code" href="group___servo.html#g8ecf12d7f9b6c7130cac1f0c33270e4b" title="Lock or unlock the I/O lines used by the servos.">Servo_SetActive</a>( index, 1 );
<a name="l00253"></a>00253 
<a name="l00254"></a>00254   <span class="keywordflow">return</span> Servo-&gt;control[ index ]-&gt;speed &gt;&gt; 6;
<a name="l00255"></a>00255 }
<a name="l00256"></a>00256 <span class="comment"></span>
<a name="l00257"></a>00257 <span class="comment">/** @}</span>
<a name="l00258"></a>00258 <span class="comment">*/</span>
<a name="l00259"></a>00259 
<a name="l00260"></a>00260 <span class="keywordtype">int</span> Servo_Start( <span class="keywordtype">int</span> index )
<a name="l00261"></a>00261 {
<a name="l00262"></a>00262   <span class="keywordtype">int</span> status;
<a name="l00263"></a>00263 
<a name="l00264"></a>00264   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= SERVO_COUNT )
<a name="l00265"></a>00265     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00266"></a>00266 
<a name="l00267"></a>00267   ServoControl* sc = Servo-&gt;control[ index ];  
<a name="l00268"></a>00268   <span class="keywordflow">if</span> ( sc-&gt;users == 0 )
<a name="l00269"></a>00269   {
<a name="l00270"></a>00270     <span class="keywordtype">int</span> io = Servo_GetIo( index );
<a name="l00271"></a>00271 
<a name="l00272"></a>00272     <span class="comment">// Try to lock the servo output</span>
<a name="l00273"></a>00273     status = Io_Start( io, <span class="keyword">true</span> );
<a name="l00274"></a>00274     <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00275"></a>00275     {
<a name="l00276"></a>00276       <span class="comment">// Damn</span>
<a name="l00277"></a>00277       Servo-&gt;users--;
<a name="l00278"></a>00278       sc-&gt;users--;
<a name="l00279"></a>00279       <span class="keywordflow">return</span> status;
<a name="l00280"></a>00280     }
<a name="l00281"></a>00281 
<a name="l00282"></a>00282     Io_PioEnable( io );
<a name="l00283"></a>00283     Io_SetTrue( io );
<a name="l00284"></a>00284     Io_SetOutput( io );
<a name="l00285"></a>00285 
<a name="l00286"></a>00286     sc-&gt;position = (SERVO_MID_POSITION + SERVO_OFFSET) &lt;&lt; 6;
<a name="l00287"></a>00287     sc-&gt;speed = 1023 &lt;&lt; 6;
<a name="l00288"></a>00288     sc-&gt;users++;
<a name="l00289"></a>00289   }
<a name="l00290"></a>00290 
<a name="l00291"></a>00291   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00292"></a>00292 }
<a name="l00293"></a>00293 
<a name="l00294"></a>00294 <span class="keywordtype">int</span> Servo_Stop( <span class="keywordtype">int</span> index )
<a name="l00295"></a>00295 {
<a name="l00296"></a>00296   <span class="keywordflow">if</span> ( index &lt; 0 || index &gt;= SERVO_COUNT )
<a name="l00297"></a>00297     <span class="keywordflow">return</span> <a class="code" href="group___error.html#g097f40c958abccd892d08f31b53c4dde" title="The requested index is not valid.">CONTROLLER_ERROR_ILLEGAL_INDEX</a>;
<a name="l00298"></a>00298 
<a name="l00299"></a>00299   ServoControl* sc = Servo-&gt;control[ index ]; 
<a name="l00300"></a>00300 
<a name="l00301"></a>00301   <span class="keywordflow">if</span> ( sc-&gt;users &lt;= 0 )
<a name="l00302"></a>00302     <span class="keywordflow">return</span> <a class="code" href="group___error.html#gbe5b0c7c2a59668cdeb433375f091c2a" title="This resource has already been stopped too many times.">CONTROLLER_ERROR_TOO_MANY_STOPS</a>;
<a name="l00303"></a>00303 
<a name="l00304"></a>00304   <span class="keywordflow">if</span> ( --sc-&gt;users == 0 )
<a name="l00305"></a>00305   {
<a name="l00306"></a>00306     <span class="keywordtype">int</span> io = Servo_GetIo( index );
<a name="l00307"></a>00307     Io_SetInput( io );
<a name="l00308"></a>00308     Io_Stop( io );
<a name="l00309"></a>00309   }
<a name="l00310"></a>00310 
<a name="l00311"></a>00311   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00312"></a>00312 }
<a name="l00313"></a>00313 
<a name="l00314"></a>00314 
<a name="l00315"></a>00315 <span class="keywordtype">int</span> Servo_GetIo( <span class="keywordtype">int</span> index )
<a name="l00316"></a>00316 {
<a name="l00317"></a>00317   <span class="keywordtype">int</span> io = -1;
<a name="l00318"></a>00318   <span class="keywordflow">switch</span> ( index )
<a name="l00319"></a>00319   {
<a name="l00320"></a>00320     <span class="keywordflow">case</span> 0:
<a name="l00321"></a>00321       io = SERVO_0_IO;
<a name="l00322"></a>00322       <span class="keywordflow">break</span>;
<a name="l00323"></a>00323     <span class="keywordflow">case</span> 1:
<a name="l00324"></a>00324       io = SERVO_1_IO;
<a name="l00325"></a>00325       <span class="keywordflow">break</span>;
<a name="l00326"></a>00326     <span class="keywordflow">case</span> 2:
<a name="l00327"></a>00327       io = SERVO_2_IO;
<a name="l00328"></a>00328       <span class="keywordflow">break</span>;
<a name="l00329"></a>00329     <span class="keywordflow">case</span> 3:
<a name="l00330"></a>00330       io = SERVO_3_IO;
<a name="l00331"></a>00331       <span class="keywordflow">break</span>;
<a name="l00332"></a>00332   }
<a name="l00333"></a>00333   <span class="keywordflow">return</span> io;
<a name="l00334"></a>00334 }
<a name="l00335"></a>00335 
<a name="l00336"></a>00336 <span class="keywordtype">int</span> Servo_Init()
<a name="l00337"></a>00337 {
<a name="l00338"></a>00338   Servo = <a class="code" href="group___utils.html#g95923aa748602fa0330903fca05ca892" title="Same as Malloc, but keeps trying until it succeeds.">MallocWait</a>( <span class="keyword">sizeof</span>( Servo_ ), 100 );
<a name="l00339"></a>00339 
<a name="l00340"></a>00340   Servo-&gt;users = 0;
<a name="l00341"></a>00341   <span class="keywordtype">int</span> i;
<a name="l00342"></a>00342   <span class="keywordflow">for</span>( i = 0; i &lt; SERVO_COUNT; i++ )
<a name="l00343"></a>00343   {
<a name="l00344"></a>00344     Servo-&gt;control[ i ] = NULL;
<a name="l00345"></a>00345     Servo-&gt;control[ i ] = <a class="code" href="group___utils.html#g95923aa748602fa0330903fca05ca892" title="Same as Malloc, but keeps trying until it succeeds.">MallocWait</a>( <span class="keyword">sizeof</span>( ServoControl ), 100 );
<a name="l00346"></a>00346 
<a name="l00347"></a>00347     ServoControl* s = Servo-&gt;control[ i ];
<a name="l00348"></a>00348     s-&gt;users = 0;
<a name="l00349"></a>00349     s-&gt;positionRequested = (SERVO_MID_POSITION + SERVO_OFFSET) &lt;&lt; 6;
<a name="l00350"></a>00350     <span class="keywordflow">switch</span>( i )
<a name="l00351"></a>00351     {
<a name="l00352"></a>00352       <span class="keywordflow">case</span> 0:
<a name="l00353"></a>00353         s-&gt;pIoBase = AT91C_BASE_PIOB;
<a name="l00354"></a>00354         s-&gt;pin = AT91C_PIO_PB24;
<a name="l00355"></a>00355         <span class="keywordflow">break</span>;
<a name="l00356"></a>00356       <span class="keywordflow">case</span> 1:
<a name="l00357"></a>00357         s-&gt;pIoBase = AT91C_BASE_PIOA;
<a name="l00358"></a>00358         s-&gt;pin = AT91C_PIO_PA23;
<a name="l00359"></a>00359         <span class="keywordflow">break</span>;
<a name="l00360"></a>00360       <span class="keywordflow">case</span> 2:
<a name="l00361"></a>00361         s-&gt;pIoBase = AT91C_BASE_PIOA;
<a name="l00362"></a>00362         s-&gt;pin = AT91C_PIO_PA21;
<a name="l00363"></a>00363         <span class="keywordflow">break</span>;
<a name="l00364"></a>00364       <span class="keywordflow">case</span> 3:
<a name="l00365"></a>00365         s-&gt;pIoBase = AT91C_BASE_PIOA;
<a name="l00366"></a>00366         s-&gt;pin = AT91C_PIO_PA22;
<a name="l00367"></a>00367         <span class="keywordflow">break</span>;
<a name="l00368"></a>00368     }
<a name="l00369"></a>00369   }
<a name="l00370"></a>00370 
<a name="l00371"></a>00371   <span class="comment">// Global init stuff</span>
<a name="l00372"></a>00372   Servo-&gt;state = 0;
<a name="l00373"></a>00373   Servo-&gt;gap = 1882; <span class="comment">// forces 64'ish cycles a second (1894 + 2012 = 3906, 3906 * 4 = 15624, 15624 * 64 = 999936)</span>
<a name="l00374"></a>00374   Servo-&gt;index = 0;
<a name="l00375"></a>00375 
<a name="l00376"></a>00376   <a class="code" href="group___fast_timer.html#g7fbd4c8b28335479fb66673a64159336" title="Initializes a fast timer entry structure.">FastTimer_InitializeEntry</a>( &amp;Servo-&gt;fastTimerEntry, Servo_IRQCallback, 0, 2000, <span class="keyword">true</span> );
<a name="l00377"></a>00377   <a class="code" href="group___fast_timer.html#gf20a5ff8dabaf78362d54e806df9a900" title="Sets the requested entry to run.">FastTimer_Set</a>( &amp;Servo-&gt;fastTimerEntry );
<a name="l00378"></a>00378 
<a name="l00379"></a>00379   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00380"></a>00380 }
<a name="l00381"></a>00381 
<a name="l00382"></a>00382 <span class="keywordtype">int</span> Servo_Deinit()
<a name="l00383"></a>00383 {
<a name="l00384"></a>00384   <span class="comment">// Disable the device</span>
<a name="l00385"></a>00385   <span class="comment">// AT91C_BASE_TC1-&gt;TC_CCR = AT91C_TC_CLKEN | AT91C_TC_SWTRG;</span>
<a name="l00386"></a>00386   <a class="code" href="group___fast_timer.html#gd722adc5f81948844c6e853e40910300" title="Stops the requested fast timer entry from running.">FastTimer_Cancel</a>( &amp;Servo-&gt;fastTimerEntry );
<a name="l00387"></a>00387   <span class="keywordtype">int</span> i;
<a name="l00388"></a>00388   <span class="keywordflow">for</span>( i = 0; i &lt; SERVO_COUNT; i++ )
<a name="l00389"></a>00389     <a class="code" href="group___utils.html#g6b0be54448d6ce393134400f4b22fa97" title="Free memory from the heap.">Free</a>( Servo-&gt;control[i] );
<a name="l00390"></a>00390   <a class="code" href="group___utils.html#g6b0be54448d6ce393134400f4b22fa97" title="Free memory from the heap.">Free</a>( Servo );
<a name="l00391"></a>00391   Servo = NULL;
<a name="l00392"></a>00392   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00393"></a>00393 }
<a name="l00394"></a>00394 
<a name="l00395"></a>00395 <span class="keywordtype">void</span> Servo_IRQCallback( <span class="keywordtype">int</span> <span class="keywordtype">id</span> )
<a name="l00396"></a>00396 {
<a name="l00397"></a>00397   (void)<span class="keywordtype">id</span>;
<a name="l00398"></a>00398   <span class="keywordtype">int</span> period;
<a name="l00399"></a>00399 
<a name="l00400"></a>00400   <span class="keywordflow">switch</span> ( Servo-&gt;state )
<a name="l00401"></a>00401   {
<a name="l00402"></a>00402     <span class="keywordflow">case</span> 0:
<a name="l00403"></a>00403     {
<a name="l00404"></a>00404       <span class="keywordflow">if</span> ( ++Servo-&gt;index &gt;= SERVO_COUNT || Servo-&gt;index &lt; 0 )
<a name="l00405"></a>00405         Servo-&gt;index = 0;
<a name="l00406"></a>00406       ServoControl* s = Servo-&gt;control[ Servo-&gt;index ];
<a name="l00407"></a>00407       
<a name="l00408"></a>00408       <span class="keywordflow">if</span> ( s-&gt;position != s-&gt;positionRequested )
<a name="l00409"></a>00409       {
<a name="l00410"></a>00410         <span class="keywordtype">int</span> diff = s-&gt;positionRequested - s-&gt;position;
<a name="l00411"></a>00411         <span class="keywordflow">if</span> ( diff &lt; 0 )
<a name="l00412"></a>00412         {
<a name="l00413"></a>00413           s-&gt;position -= s-&gt;speed;
<a name="l00414"></a>00414           <span class="keywordflow">if</span> ( s-&gt;position &lt; s-&gt;positionRequested )
<a name="l00415"></a>00415             s-&gt;position = s-&gt;positionRequested;
<a name="l00416"></a>00416         }
<a name="l00417"></a>00417         <span class="keywordflow">else</span>
<a name="l00418"></a>00418         {
<a name="l00419"></a>00419           s-&gt;position += s-&gt;speed;
<a name="l00420"></a>00420           <span class="keywordflow">if</span> ( s-&gt;position &gt; s-&gt;positionRequested )
<a name="l00421"></a>00421             s-&gt;position = s-&gt;positionRequested;
<a name="l00422"></a>00422         }
<a name="l00423"></a>00423       }
<a name="l00424"></a>00424 
<a name="l00425"></a>00425       period = s-&gt;position &gt;&gt; 6;
<a name="l00426"></a>00426       <span class="keywordflow">if</span> ( period &gt;= (SERVO_MIN_POSITION + SERVO_OFFSET) &amp;&amp; period &lt;= (SERVO_MAX_POSITION + SERVO_OFFSET) )
<a name="l00427"></a>00427         s-&gt;pIoBase-&gt;PIO_CODR = s-&gt;pin;
<a name="l00428"></a>00428       <span class="keywordflow">else</span>
<a name="l00429"></a>00429         period = SERVO_MAX_POSITION;
<a name="l00430"></a>00430       <a class="code" href="group___fast_timer.html#g2db79bbca7af495bf61ebad8abdeb806" title="Change the requeted time of an entry.">FastTimer_SetTime</a>( &amp;Servo-&gt;fastTimerEntry, period );
<a name="l00431"></a>00431       Servo-&gt;state = 1;
<a name="l00432"></a>00432       <span class="keywordflow">break</span>;
<a name="l00433"></a>00433     }
<a name="l00434"></a>00434     <span class="keywordflow">case</span> 1:
<a name="l00435"></a>00435     {
<a name="l00436"></a>00436       ServoControl* s = Servo-&gt;control[ Servo-&gt;index ];
<a name="l00437"></a>00437       period = s-&gt;position &gt;&gt; 6;
<a name="l00438"></a>00438       s-&gt;pIoBase-&gt;PIO_SODR = s-&gt;pin;
<a name="l00439"></a>00439       <a class="code" href="group___fast_timer.html#g2db79bbca7af495bf61ebad8abdeb806" title="Change the requeted time of an entry.">FastTimer_SetTime</a>( &amp;Servo-&gt;fastTimerEntry, Servo-&gt;gap + ( SERVO_CYCLE - period ) );
<a name="l00440"></a>00440       Servo-&gt;state = 0;
<a name="l00441"></a>00441       <span class="keywordflow">break</span>;
<a name="l00442"></a>00442     }
<a name="l00443"></a>00443   }
<a name="l00444"></a>00444 }
<a name="l00445"></a>00445 
<a name="l00446"></a>00446 <span class="preprocessor">#ifdef OSC // defined in config.h</span>
<a name="l00447"></a>00447 <span class="preprocessor"></span><span class="comment"></span>
<a name="l00448"></a>00448 <span class="comment">/** \defgroup ServoOSC Servo - OSC</span>
<a name="l00449"></a>00449 <span class="comment">  Control Servo motors with the Application Board via OSC.</span>
<a name="l00450"></a>00450 <span class="comment">  \ingroup OSC</span>
<a name="l00451"></a>00451 <span class="comment">  </span>
<a name="l00452"></a>00452 <span class="comment">  \section devices Devices</span>
<a name="l00453"></a>00453 <span class="comment">  There are 4 Servo controllers available on the Application Board, numbered 0 - 3.\n</span>
<a name="l00454"></a>00454 <span class="comment">  See the servo section in the Application Board user's guide for more information</span>
<a name="l00455"></a>00455 <span class="comment">  on hooking up servos to the board.</span>
<a name="l00456"></a>00456 <span class="comment">  </span>
<a name="l00457"></a>00457 <span class="comment">  \section properties Properties</span>
<a name="l00458"></a>00458 <span class="comment">  Each servo controller has three properties:</span>
<a name="l00459"></a>00459 <span class="comment">  - position</span>
<a name="l00460"></a>00460 <span class="comment">  - speed</span>
<a name="l00461"></a>00461 <span class="comment">  - active</span>
<a name="l00462"></a>00462 <span class="comment"></span>
<a name="l00463"></a>00463 <span class="comment">  \par Position</span>
<a name="l00464"></a>00464 <span class="comment">  The \b position property corresponds to the position of the servo motor within its range of motion.</span>
<a name="l00465"></a>00465 <span class="comment">  This value can be both read and written.  </span>
<a name="l00466"></a>00466 <span class="comment">  \par </span>
<a name="l00467"></a>00467 <span class="comment">  Most servos like to be driven within a "safe range" which usually ends up being somewhere around 110-120</span>
<a name="l00468"></a>00468 <span class="comment">  degrees range of motion, or thereabouts.  Some servos don't mind being driven all the way to their 180</span>
<a name="l00469"></a>00469 <span class="comment">  degree range of motion limit.  With this in mind, the range of values you can send to servos connected</span>
<a name="l00470"></a>00470 <span class="comment">  to the Make Controller Kit is as follows:</span>
<a name="l00471"></a>00471 <span class="comment">  - Values from 0-1023 correspond to the normal, or "safe", range of motion.  </span>
<a name="l00472"></a>00472 <span class="comment">  - You can also send values from -512 to 1536 to drive the servo through its full</span>
<a name="l00473"></a>00473 <span class="comment">  range of motion.</span>
<a name="l00474"></a>00474 <span class="comment">  \par</span>
<a name="l00475"></a>00475 <span class="comment">  Note that it is sometimes possible to damage your servo by driving it too far, so proceed with a bit of</span>
<a name="l00476"></a>00476 <span class="comment">  caution when using the extended range until you know your servos can handle it.</span>
<a name="l00477"></a>00477 <span class="comment">  \par</span>
<a name="l00478"></a>00478 <span class="comment">  To set the first servo to one quarter its position, send the message</span>
<a name="l00479"></a>00479 <span class="comment">  \verbatim /servo/0/position 256 \endverbatim</span>
<a name="l00480"></a>00480 <span class="comment">  Leave the argument value off to read the position of the servo:</span>
<a name="l00481"></a>00481 <span class="comment">  \verbatim /servo/0/position \endverbatim</span>
<a name="l00482"></a>00482 <span class="comment">  </span>
<a name="l00483"></a>00483 <span class="comment">  \par Speed</span>
<a name="l00484"></a>00484 <span class="comment">  The \b speed property corresponds to the speed with which the servo responds to changes </span>
<a name="l00485"></a>00485 <span class="comment">  of position.</span>
<a name="l00486"></a>00486 <span class="comment">  This value can be both read and written, and the range of values is 0 - 1023.  A speed of 1023</span>
<a name="l00487"></a>00487 <span class="comment">  means the servo responds immediately, and lower values will result in slower, and smoother, responses.  </span>
<a name="l00488"></a>00488 <span class="comment">  \par</span>
<a name="l00489"></a>00489 <span class="comment">  To set the speed of the first servo to just under full speed, send a message like</span>
<a name="l00490"></a>00490 <span class="comment">  \verbatim /servo/0/speed 975 \endverbatim</span>
<a name="l00491"></a>00491 <span class="comment">  Adjust the argument value to one that suits your application.\n</span>
<a name="l00492"></a>00492 <span class="comment">  Leave the argument value off to read the position of the servo:</span>
<a name="l00493"></a>00493 <span class="comment">  \verbatim /servo/0/speed \endverbatim</span>
<a name="l00494"></a>00494 <span class="comment">  </span>
<a name="l00495"></a>00495 <span class="comment">  \par Active</span>
<a name="l00496"></a>00496 <span class="comment">  The \b active property corresponds to the active state of the servo.</span>
<a name="l00497"></a>00497 <span class="comment">  If the servo is set to be active, no other tasks will be able to</span>
<a name="l00498"></a>00498 <span class="comment">  write to the same I/O lines.  If you're not seeing appropriate</span>
<a name="l00499"></a>00499 <span class="comment">  responses to your messages to a servo, check the whether it's </span>
<a name="l00500"></a>00500 <span class="comment">  locked by sending a message like</span>
<a name="l00501"></a>00501 <span class="comment">  \verbatim /servo/3/active \endverbatim</span>
<a name="l00502"></a>00502 <span class="comment">*/</span>
<a name="l00503"></a>00503 
<a name="l00504"></a>00504 <span class="preprocessor">#include "osc.h"</span>
<a name="l00505"></a>00505 <span class="preprocessor">#include "string.h"</span>
<a name="l00506"></a>00506 <span class="preprocessor">#include "stdio.h"</span>
<a name="l00507"></a>00507 
<a name="l00508"></a>00508 <span class="comment">// Need a list of property names</span>
<a name="l00509"></a>00509 <span class="comment">// MUST end in zero</span>
<a name="l00510"></a>00510 <span class="keyword">static</span> <span class="keywordtype">char</span>* ServoOsc_Name = <span class="stringliteral">"servo"</span>;
<a name="l00511"></a>00511 <span class="keyword">static</span> <span class="keywordtype">char</span>* ServoOsc_PropertyNames[] = { <span class="stringliteral">"active"</span>, <span class="stringliteral">"position"</span>, <span class="stringliteral">"speed"</span>, 0 }; <span class="comment">// must have a trailing 0</span>
<a name="l00512"></a>00512 
<a name="l00513"></a>00513 <span class="keywordtype">int</span> ServoOsc_PropertySet( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> property, <span class="keywordtype">int</span> value );
<a name="l00514"></a>00514 <span class="keywordtype">int</span> ServoOsc_PropertyGet( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> property );
<a name="l00515"></a>00515 
<a name="l00516"></a>00516 <span class="comment">// Returns the name of the subsystem</span>
<a name="l00517"></a>00517 <span class="keyword">const</span> <span class="keywordtype">char</span>* ServoOsc_GetName( )
<a name="l00518"></a>00518 {
<a name="l00519"></a>00519   <span class="keywordflow">return</span> ServoOsc_Name;
<a name="l00520"></a>00520 }
<a name="l00521"></a>00521 
<a name="l00522"></a>00522 <span class="comment">// Now getting a message.  This is actually a part message, with the first</span>
<a name="l00523"></a>00523 <span class="comment">// part (the subsystem) already parsed off.</span>
<a name="l00524"></a>00524 <span class="keywordtype">int</span> ServoOsc_ReceiveMessage( <span class="keywordtype">int</span> channel, <span class="keywordtype">char</span>* message, <span class="keywordtype">int</span> length )
<a name="l00525"></a>00525 {
<a name="l00526"></a>00526   <span class="keywordtype">int</span> status = <a class="code" href="group___o_s_c_a_p_i.html#gdaa5a3868eeedcf785c3d52f6b36ef34" title="Receive integers for a subsystem with multiple indexes.">Osc_IndexIntReceiverHelper</a>( channel, message, length, 
<a name="l00527"></a>00527                                            SERVO_COUNT, ServoOsc_Name,
<a name="l00528"></a>00528                                            ServoOsc_PropertySet, ServoOsc_PropertyGet, 
<a name="l00529"></a>00529                                            ServoOsc_PropertyNames );
<a name="l00530"></a>00530 
<a name="l00531"></a>00531   <span class="keywordflow">if</span> ( status != <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a> )
<a name="l00532"></a>00532     <span class="keywordflow">return</span> Osc_SendError( channel, ServoOsc_Name, status );
<a name="l00533"></a>00533   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00534"></a>00534 }
<a name="l00535"></a>00535 
<a name="l00536"></a>00536 <span class="comment">// Set the index LED, property with the value</span>
<a name="l00537"></a>00537 <span class="keywordtype">int</span> ServoOsc_PropertySet( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> property, <span class="keywordtype">int</span> value )
<a name="l00538"></a>00538 {
<a name="l00539"></a>00539   <span class="keywordflow">switch</span> ( property )
<a name="l00540"></a>00540   {
<a name="l00541"></a>00541     <span class="keywordflow">case</span> 0:
<a name="l00542"></a>00542       <a class="code" href="group___servo.html#g8ecf12d7f9b6c7130cac1f0c33270e4b" title="Lock or unlock the I/O lines used by the servos.">Servo_SetActive</a>( index, value );
<a name="l00543"></a>00543       <span class="keywordflow">break</span>;
<a name="l00544"></a>00544     <span class="keywordflow">case</span> 1:
<a name="l00545"></a>00545       <a class="code" href="group___servo.html#g6fdf6eb917b9aa2a25939d9a44821b22" title="Set the position of the specified servo motor.">Servo_SetPosition</a>( index, value );
<a name="l00546"></a>00546       <span class="keywordflow">break</span>;
<a name="l00547"></a>00547     <span class="keywordflow">case</span> 2:
<a name="l00548"></a>00548       <a class="code" href="group___servo.html#g4a71ffa4eaba4813382dc5de22b7f74c" title="Set the speed at which a servo will move in response to a call to Servo_SetPosition()...">Servo_SetSpeed</a>( index, value );
<a name="l00549"></a>00549       <span class="keywordflow">break</span>;
<a name="l00550"></a>00550   }
<a name="l00551"></a>00551   <span class="keywordflow">return</span> <a class="code" href="group___error.html#gaa42bc036fbba18487ae9a15cd1f2f94" title="All&amp;#39;s well here.">CONTROLLER_OK</a>;
<a name="l00552"></a>00552 }
<a name="l00553"></a>00553 
<a name="l00554"></a>00554 <span class="comment">// Get the index LED, property</span>
<a name="l00555"></a>00555 <span class="keywordtype">int</span> ServoOsc_PropertyGet( <span class="keywordtype">int</span> index, <span class="keywordtype">int</span> property )
<a name="l00556"></a>00556 {
<a name="l00557"></a>00557   <span class="keywordtype">int</span> value = 0;
<a name="l00558"></a>00558   <span class="keywordflow">switch</span> ( property )
<a name="l00559"></a>00559   {
<a name="l00560"></a>00560     <span class="keywordflow">case</span> 0:
<a name="l00561"></a>00561       value = <a class="code" href="group___servo.html#g5cee903342f9a9f772713b4059ff911c" title="Check whether the I/O lines used by the servos are locked.">Servo_GetActive</a>( index );
<a name="l00562"></a>00562       <span class="keywordflow">break</span>;
<a name="l00563"></a>00563     <span class="keywordflow">case</span> 1:
<a name="l00564"></a>00564       value = <a class="code" href="group___servo.html#g214b93c5b01fa4e91a9d1a06f606a342" title="Read the current position of a servo motor.">Servo_GetPosition</a>( index );
<a name="l00565"></a>00565       <span class="keywordflow">break</span>;
<a name="l00566"></a>00566     <span class="keywordflow">case</span> 2:
<a name="l00567"></a>00567       value = <a class="code" href="group___servo.html#g611ac83ea6ee2bc174cc20bf51cbeb5d" title="Get the speed at which a servo will move in response to a call to Servo_SetPosition()...">Servo_GetSpeed</a>( index );
<a name="l00568"></a>00568       <span class="keywordflow">break</span>;
<a name="l00569"></a>00569   }
<a name="l00570"></a>00570   
<a name="l00571"></a>00571   <span class="keywordflow">return</span> value;
<a name="l00572"></a>00572 }
<a name="l00573"></a>00573 
<a name="l00574"></a>00574 <span class="preprocessor">#endif</span>
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  <p class="footer">The Make Controller Kit is an open source project maintained by <a href="http://www.makingthings.com">MakingThings</a>.<br />
    MakingThings code is released under the <a href="http://www.apache.org/licenses/LICENSE-2.0.html" target="_blank">Apache 2.0 license</a>.<br />
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		This document was last updated on 5 Dec 2007.
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